Publication result detail

Measuring the Performance of FreeRTOS on ESP32 Multi-Core

ARM, J.; BAŠTÁN, O.; MIHÁLIK, O.; BRADÁČ, Z.

Original Title

Measuring the Performance of FreeRTOS on ESP32 Multi-Core

English Title

Measuring the Performance of FreeRTOS on ESP32 Multi-Core

Type

Paper in proceedings (conference paper)

Original Abstract

Real-Time Operating System (RTOS) executing on multi-core architectures still links to a lot of unresolved issues. The article presents potential problems and discusses measurement techniques indicating the performance and determinism. The advantages and disadvantages of individual measurement approaches are discussed, which cover a range from non-invasive techniques to techniques that require the cooperation of a monitored application. On top of that, the parameters indicating the performance and properties of RTOS running on multi-core are defined. Among them, the measuring of the semaphore taking, and task period jitter are described deeply. The operations are measured on ESP32-WROOM-32 development kit equipped with XTENSA dual-core processor running FreeRTOS. The results show unexpectedly high values of the switching context time and jitter when the rescheduling to another core was forced compared to time values measured on single core. Consequently, the unexpected rescheduling to other core increases the execution time of FreeRTOS operations. The work should facilitate the improvement of FreeRTOS implementation when running on multi-core architecture.

English abstract

Real-Time Operating System (RTOS) executing on multi-core architectures still links to a lot of unresolved issues. The article presents potential problems and discusses measurement techniques indicating the performance and determinism. The advantages and disadvantages of individual measurement approaches are discussed, which cover a range from non-invasive techniques to techniques that require the cooperation of a monitored application. On top of that, the parameters indicating the performance and properties of RTOS running on multi-core are defined. Among them, the measuring of the semaphore taking, and task period jitter are described deeply. The operations are measured on ESP32-WROOM-32 development kit equipped with XTENSA dual-core processor running FreeRTOS. The results show unexpectedly high values of the switching context time and jitter when the rescheduling to another core was forced compared to time values measured on single core. Consequently, the unexpected rescheduling to other core increases the execution time of FreeRTOS operations. The work should facilitate the improvement of FreeRTOS implementation when running on multi-core architecture.

Keywords

Multi-core, RTOS, switching context, task jitter, determinisms

Key words in English

Multi-core, RTOS, switching context, task jitter, determinisms

Authors

ARM, J.; BAŠTÁN, O.; MIHÁLIK, O.; BRADÁČ, Z.

RIV year

2023

Released

20.05.2022

Publisher

Elsevier

Location

Sarajevo

Book

17th IFAC INTERNATIONAL CONFERENCE on PROGRAMMABLE DEVICES and EMBEDDED SYSTEMS - PDeS 2022

ISBN

2405-8963

Periodical

IFAC-PapersOnLine

Volume

55

Number

4

State

United Kingdom of Great Britain and Northern Ireland

Pages from

292

Pages to

297

Pages count

6

URL

https://reader.elsevier.com/reader/sd/pii/S2405896322003639?token=63DD63C76DBC48F178052AB23C12B905EBF05A465959F9A25171C7E2FF6A20A689CBA9AA568F017EB9CCC33619F8A170&originRegion=eu-west-1&originCreation=20221103093948

BibTex

@inproceedings{BUT177985,
  author="Jakub {Arm} and Ondřej {Baštán} and Ondrej {Mihálik} and Zdeněk {Bradáč}",
  title="Measuring the Performance of FreeRTOS on ESP32 Multi-Core",
  booktitle="17th IFAC INTERNATIONAL CONFERENCE on PROGRAMMABLE DEVICES and EMBEDDED SYSTEMS - PDeS 2022",
  year="2022",
  journal="IFAC-PapersOnLine",
  volume="55",
  number="4",
  pages="292--297",
  publisher="Elsevier",
  address="Sarajevo",
  doi="10.1016/j.ifacol.2022.06.048",
  issn="2405-8971",
  url="https://reader.elsevier.com/reader/sd/pii/S2405896322003639?token=63DD63C76DBC48F178052AB23C12B905EBF05A465959F9A25171C7E2FF6A20A689CBA9AA568F017EB9CCC33619F8A170&originRegion=eu-west-1&originCreation=20221103093948"
}